/usr/include/visp/vpCalibration.h is in libvisp-dev 2.8.0-4.
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*
* $Id: vpCalibration.h 4317 2013-07-17 09:40:17Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
*
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
* http://www.irisa.fr/lagadic
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
*
* Description:
* Camera calibration.
*
* Authors:
* Eric Marchand
* Francois Chaumette
* Anthony Saunier
*
*****************************************************************************/
/*!
\file vpCalibration.h
\brief Tools for camera calibration.
\author Eric Marchand (INRIA) using code from Francois Chaumette (INRIA)
\sa the example in calibrate.cpp
*/
#ifndef vpCalibration_h
#define vpCalibration_h
#include <visp/vpMatrix.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpCameraParameters.h>
#include <visp/vpExponentialMap.h>
#include <visp/vpMath.h>
#include <visp/vpDisplay.h>
#include <visp/vpImage.h>
#include <visp/vpCalibrationException.h>
#include <visp/vpImagePoint.h>
#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
# include <visp/vpList.h>
#endif
#include <list>
#include <vector>
/*!
\class vpCalibration
\ingroup Calibration
\brief Tools for perspective camera calibration.
*/
class VISP_EXPORT vpCalibration
{
public:
/*!
Minimization algorithm use to estimate the camera parameters.
*/
typedef enum{
CALIB_LAGRANGE, /*!< Lagrange approach without estimation of the distortion. */
CALIB_VIRTUAL_VS, /*!< Virtual visual servoing approach without estimation of the distortion (results are similar to Lowe approach). */
CALIB_VIRTUAL_VS_DIST, /*!< Virtual visual servoing approach with estimation of the distortion. */
CALIB_LAGRANGE_VIRTUAL_VS, /*!< Lagrange approach first, than virtual visual servoing approach, without estimation of the distortion. */
CALIB_LAGRANGE_VIRTUAL_VS_DIST, /*!< Lagrange approach first, than virtual visual servoing approach, with estimation of the distortion. */
} vpCalibrationMethodType ;
vpHomogeneousMatrix cMo ; //!< the pose computed for the model without distortion
//!< (as a 3x4 matrix [R T])
vpHomogeneousMatrix cMo_dist ; //!< the pose computed for perspective projection
//!< with distortion model
//!< (as a 3x4 matrix [R T])
vpCameraParameters cam; //!< camera intrinsic parameters for perspective
//!< projection model without distortion
vpCameraParameters cam_dist; //!< camera intrinsic parameters for perspective
//!< projection model with distortion
vpHomogeneousMatrix rMe; //!< position of the effector in relation to the
//!< reference coordinates (manipulator base coordinates)
vpHomogeneousMatrix eMc; //!< position of the camera in relation to the effector
vpHomogeneousMatrix eMc_dist;
public:
int init() ;
//! Suppress all the point in the array of point
int clearPoint() ;
// Add a new point in this array
int addPoint(double X, double Y, double Z, vpImagePoint &ip) ;
//! Constructor
vpCalibration() ;
//! Destructor
virtual ~vpCalibration() ;
//! = operator
void operator=(vpCalibration& twinCalibration );
//!get the residual in pixels
double getResidual(void) const {return residual;}
//!get the residual for perspective projection with distortion (in pixels)
double getResidual_dist(void) const {return residual_dist;}
//!get the number of points
unsigned int get_npt() const {return npt;}
static void calibrationTsai(std::vector<vpHomogeneousMatrix> &cMo,
std::vector<vpHomogeneousMatrix> &rMe,
vpHomogeneousMatrix &eMc);
void computeStdDeviation(double &deviation, double &deviation_dist);
int computeCalibration(vpCalibrationMethodType method,
vpHomogeneousMatrix &cMo,
vpCameraParameters &cam,
bool verbose = false) ;
static int computeCalibrationMulti(vpCalibrationMethodType method,
std::vector<vpCalibration> &table_cal,
vpCameraParameters &cam,
double &globalReprojectionError,
bool verbose = false) ;
static int computeCalibrationTsai(std::vector<vpCalibration> &table_cal,
vpHomogeneousMatrix &eMc,
vpHomogeneousMatrix &eMc_dist);
double computeStdDeviation(vpHomogeneousMatrix &cMo,
vpCameraParameters &cam);
double computeStdDeviation_dist(vpHomogeneousMatrix &cMo,
vpCameraParameters &cam);
int displayData(vpImage<unsigned char> &I, vpColor color=vpColor::red,
unsigned int thickness=1) ;
int displayGrid(vpImage<unsigned char> &I, vpColor color=vpColor::yellow,
unsigned int thickness=1) ;
//!set the gain for the virtual visual servoing algorithm
static double getLambda(){return gain;}
int readData(const char *filename) ;
static int readGrid(const char *filename,unsigned int &n,
std::list<double> &oX, std::list<double> &oY, std::list<double> &oZ,
bool verbose = false);
//!set the gain for the virtual visual servoing algorithm
static void setLambda(const double &lambda){gain = lambda;}
int writeData(const char *filename) ;
#ifdef VISP_BUILD_DEPRECATED_FUNCTIONS
/*!
@name Deprecated functions
*/
static void calibrationTsai(unsigned int nbPose, vpHomogeneousMatrix cMo[],
vpHomogeneousMatrix rMe[],
vpHomogeneousMatrix &eMc);
static int computeCalibrationMulti(vpCalibrationMethodType method,unsigned int nbPose,
vpCalibration table_cal[],
vpCameraParameters &cam,
bool verbose = false) ;
vp_deprecated static int computeCalibrationTsai(unsigned int nbPose,
vpCalibration table_cal[],
vpHomogeneousMatrix &eMc,
vpHomogeneousMatrix &eMc_dist);
vp_deprecated static int readGrid(const char *filename,unsigned int &n,
vpList<double> &oX,vpList<double> &oY,vpList<double> &oZ,
bool verbose = false);
#endif
private:
void computePose(const vpCameraParameters &cam, vpHomogeneousMatrix &cMo);
void calibLagrange( vpCameraParameters &cam , vpHomogeneousMatrix &cMo) ;
//! Compute the calibration using virtual visual servoing approach
void calibVVS( vpCameraParameters &cam , vpHomogeneousMatrix &cMo,
bool verbose = false) ;
static void calibVVSMulti(unsigned int nbPose, vpCalibration table_cal[],
vpCameraParameters &cam, bool verbose = false);
static void calibVVSMulti(std::vector<vpCalibration> &table_cal,
vpCameraParameters &cam,
double &globalReprojectionError, bool verbose = false) ;
void calibVVSWithDistortion( vpCameraParameters &cam,
vpHomogeneousMatrix &cMo,
bool verbose = false) ;
static void calibVVSWithDistortionMulti( unsigned int nbPose,
vpCalibration table_cal[],
vpCameraParameters &cam,
bool verbose = false );
static void calibVVSWithDistortionMulti( std::vector<vpCalibration> &table_cal,
vpCameraParameters &cam,
double &globalReprojectionError,
bool verbose = false);
private:
unsigned int npt ; //!< number of points used in calibration computation
std::list<double> LoX, LoY, LoZ ; //!< list of points coordinates (3D in meters)
std::list<vpImagePoint> Lip ; //!< list of points coordinates (2D in pixels)
double residual ; //!< residual in pixel for camera model without distortion
double residual_dist ; //!< residual in pixel for perspective projection with distortion model
static double threshold;
static unsigned int nbIterMax;
static double gain;
} ;
#endif
/*
* Local variables:
* c-basic-offset: 2
* End:
*/
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